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incubator-nuttx/drivers/sensors/adxl372_uorb.c

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/****************************************************************************
* drivers/sensors/adxl372_uorb.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <debug.h>
#include <stdio.h>
#include <string.h>
#include <sys/param.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/signal.h>
#include <nuttx/sensors/adxl372.h>
#include <nuttx/sensors/sensor.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define CONSTANTS_ONE_G 9.8f
/****************************************************************************
* Private Types
****************************************************************************/
struct adxl372_sensor_s
{
struct sensor_lowerhalf_s lower;
FAR struct spi_dev_s *spi;
float scale;
int devno;
#ifdef CONFIG_SENSORS_ADXL372_POLL
bool enabled;
uint32_t interval;
sem_t run;
#endif
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr);
static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr, uint8_t regval);
static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr, FAR uint8_t *regval, int len);
static int16_t adxl372_data(FAR uint8_t *data);
static int adxl372_checkid(FAR struct adxl372_sensor_s *priv);
static void adxl372_start(FAR struct adxl372_sensor_s *priv);
static void adxl372_stop(FAR struct adxl372_sensor_s *priv);
/* Sensor ops functions */
static int adxl372_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
bool enable);
static int adxl372_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR uint32_t *period_us);
#ifndef CONFIG_SENSORS_ADXL372_POLL
static int adxl372_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR char *buffer, size_t buflen);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const struct sensor_ops_s g_adxl372_accel_ops =
{
NULL, /* open */
NULL, /* close */
adxl372_activate,
adxl372_set_interval,
NULL, /* batch */
#ifdef CONFIG_SENSORS_ADXL372_POLL
NULL, /* fetch */
#else
adxl372_fetch,
#endif
NULL, /* flush */
NULL, /* selftest */
NULL, /* set_calibvalue */
NULL, /* calibrate */
NULL /* get_info */
NULL /* control */
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: adxl372_getreg8
*
* Description:
* Read from an 8-bit ADXL372 register
*
****************************************************************************/
static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr)
{
uint8_t regval = 0;
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
/* Select the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register to read and get the next byte */
SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
SPI_RECVBLOCK(priv->spi, &regval, 1);
/* Deselect the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
return regval;
}
/****************************************************************************
* Name: adxl372_putreg8
*
* Description:
* Write a value to an 8-bit ADXL372 register
*
****************************************************************************/
static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr, uint8_t regval)
{
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
/* Select the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register address and set the value */
SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_WRITE);
SPI_SEND(priv->spi, regval);
/* Deselect the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
}
/****************************************************************************
* Name: adxl372_getregs
*
* Description:
* Read bytes from specified regaddr
*
****************************************************************************/
static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
uint8_t regaddr, FAR uint8_t *regval, int len)
{
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
/* Select the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register to read and get the next 2 bytes */
SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
SPI_RECVBLOCK(priv->spi, regval, len);
/* Deselect the ADXL372 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
}
/****************************************************************************
* Name: adxl372_data
****************************************************************************/
static int16_t adxl372_data(FAR uint8_t *data)
{
return ((int16_t)(((data[0] << 8) | (data[1] & 0xf0)))) >> 4;
}
/****************************************************************************
* Name: adxl372_checkid
*
* Description:
* Read and verify the ADXL372 chip ID
*
****************************************************************************/
static int adxl372_checkid(FAR struct adxl372_sensor_s *priv)
{
uint8_t id = 0;
id = adxl372_getreg8(priv, ADXL372_DEVID_AD);
if (id != ADXL372_DEVID_AD_VALUE)
{
snerr("Wrong AD! %02x\n", id);
return -ENODEV;
}
id = adxl372_getreg8(priv, ADXL372_DEVID_MST);
if (id != ADXL372_DEVID_MST_VALUE)
{
snerr("Wrong MST! %02x\n", id);
return -ENODEV;
}
id = adxl372_getreg8(priv, ADXL372_PARTID);
if (id != ADXL372_PARTID_VALUE)
{
snerr("Wrong PARTID! %02x\n", id);
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: adxl372_start
****************************************************************************/
static void adxl372_start(FAR struct adxl372_sensor_s *priv)
{
adxl372_putreg8(priv, ADXL372_POWER_CTL,
ADXL372_POWER_HPF_DISABLE |
ADXL372_POWER_MODE_MEASURE);
}
/****************************************************************************
* Name: adxl372_stop
****************************************************************************/
static void adxl372_stop(FAR struct adxl372_sensor_s *priv)
{
adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
}
/****************************************************************************
* Name: adxl372_reset
****************************************************************************/
static void adxl372_reset(FAR struct adxl372_sensor_s *priv)
{
int wdcnt = 10;
/* Set stanby mode */
adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
/* Wait for boot to finish (15 ms error timeout) */
up_mdelay(5);
while (wdcnt > 0 && (0 != adxl372_getreg8(priv, ADXL372_RESET)))
{
up_mdelay(1);
wdcnt--;
}
/* Reset ADXL372 Accelerometer. Write only. Begin a boot. */
adxl372_putreg8(priv, ADXL372_RESET_VALUE, ADXL372_RESET);
/* Wait for boot to finish (15 ms error timeout) */
up_mdelay(5);
wdcnt = 10;
while (wdcnt > 0 && (0 != adxl372_getreg8(priv, ADXL372_RESET)))
{
up_mdelay(1);
wdcnt--;
}
}
/****************************************************************************
* Name: adxl372_activate
*
* Description:
* Enable or disable sensor device. when enable sensor, sensor will
* work in current mode(if not set, use default mode). when disable
* sensor, it will disable sense path and stop convert.
*
* Input Parameters:
* lower - The instance of lower half sensor driver.
* filep - The pointer of file, represents each user using the sensor.
* enable - true(enable) and false(disable).
*
* Returned Value:
* Return 0 if the driver was success; A negated errno
* value is returned on any failure.
*
* Assumptions/Limitations:
* none.
*
****************************************************************************/
static int adxl372_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
bool enable)
{
FAR struct adxl372_sensor_s *priv = (FAR struct adxl372_sensor_s *)lower;
#ifdef CONFIG_SENSORS_ADXL372_POLL
bool start_thread = false;
#endif
if (enable)
{
#ifdef CONFIG_SENSORS_ADXL372_POLL
if (!priv->enabled)
{
start_thread = true;
}
#endif
adxl372_start(priv);
}
else
{
adxl372_stop(priv);
}
#ifdef CONFIG_SENSORS_ADXL372_POLL
priv->enabled = enable;
if (start_thread)
{
/* Wake up the thread */
nxsem_post(&priv->run);
}
#endif
return OK;
}
/****************************************************************************
* Name: adxl372_set_interval
*
* Description:
* Set the sensor output data period in microseconds for a given sensor.
* If *period_us > max_delay it will be truncated to max_delay and if
* *period_us < min_delay it will be replaced by min_delay.
*
* Input Parameters:
* lower - The instance of lower half sensor driver.
* filep - The pointer of file, represents each user using the sensor.
* period_us - The time between report data, in us. It may by overwrite
* by lower half driver.
*
* Returned Value:
* Return 0 if the driver was success; A negated errno
* value is returned on any failure.
*
* Assumptions/Limitations:
* none.
*
****************************************************************************/
static int adxl372_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR uint32_t *period_us)
{
#ifdef CONFIG_SENSORS_ADXL372_POLL
FAR struct adxl372_sensor_s *priv = (FAR struct adxl372_sensor_s *)lower;
priv->interval = *period_us;
#endif
return OK;
}
#ifndef CONFIG_SENSORS_ADXL372_POLL
/****************************************************************************
* Name: adxl372_fetch
****************************************************************************/
static int adxl372_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct adxl372_sensor_s *priv = (FAR struct adxl372_sensor_s *)lower;
struct sensor_accel accel;
uint8_t data[6];
/* Wait for data ready */
while (!(adxl372_getreg8(priv, ADXL372_STATUS) & 0x01));
/* Get data */
adxl372_getregs(priv, ADXL372_XDATA_H, (FAR uint8_t *)data, 6);
accel.timestamp = sensor_get_timestamp();
accel.x = (float)adxl372_data(&data[0]) * priv->scale;
accel.y = (float)adxl372_data(&data[2]) * priv->scale;
accel.z = (float)adxl372_data(&data[4]) * priv->scale;
accel.temperature = 0;
memcpy(buffer, &accel, sizeof(accel));
return sizeof(accel);
}
#endif
#ifdef CONFIG_SENSORS_ADXL372_POLL
/****************************************************************************
* Name: adxl372_thread
*
* Description: Thread for performing interval measurement cycle and data
* read.
*
* Parameter:
* argc - Number opf arguments
* argv - Pointer to argument list
*
****************************************************************************/
static int adxl372_thread(int argc, FAR char **argv)
{
FAR struct adxl372_sensor_s *priv
= (FAR struct adxl372_sensor_s *)((uintptr_t)strtoul(argv[1], NULL,
16));
struct sensor_accel accel;
uint8_t data[6];
int ret;
while (true)
{
if ((!priv->enabled))
{
/* Waiting to be woken up */
ret = nxsem_wait(&priv->run);
if (ret < 0)
{
continue;
}
}
/* Read accel */
if (priv->enabled)
{
/* Wait for data ready */
while (!(adxl372_getreg8(priv, ADXL372_STATUS) & 0x01));
adxl372_getregs(priv, ADXL372_XDATA_H, (FAR uint8_t *)data, 6);
accel.timestamp = sensor_get_timestamp();
accel.x = (float)adxl372_data(&data[0]) * priv->scale;
accel.y = (float)adxl372_data(&data[2]) * priv->scale;
accel.z = (float)adxl372_data(&data[4]) * priv->scale;
accel.temperature = 0;
priv->lower.push_event(priv->lower.priv, &accel, sizeof(accel));
}
/* Sleeping thread before fetching the next sensor data */
nxsig_usleep(priv->interval);
}
return OK;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: adxl372_register
*
* Description:
* Register the ADXL372 character device as 'devpath'
*
* Input Parameters:
* devno - Sensor device number.
* dev - An instance of the SPI or I2C interface to use to communicate
* with ADXL372
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int adxl372_register_uorb(int devno, FAR struct spi_dev_s *spi)
{
FAR struct adxl372_sensor_s *priv;
int ret;
#ifdef CONFIG_SENSORS_ADXL372_POLL
FAR char *argv[2];
char arg1[32];
#endif
/* Sanity check */
DEBUGASSERT(spi != NULL);
/* Initialize the ADXL372 device structure */
priv = kmm_zalloc(sizeof(struct adxl372_sensor_s));
if (priv == NULL)
{
return -ENOMEM;
}
priv->spi = spi;
priv->lower.ops = &g_adxl372_accel_ops;
priv->lower.type = SENSOR_TYPE_ACCELEROMETER;
priv->lower.nbuffer = 1;
priv->scale = (CONSTANTS_ONE_G / 10.0f);
priv->devno = devno;
#ifdef CONFIG_SENSORS_ADXL372_POLL
priv->enabled = false;
priv->interval = CONFIG_SENSORS_ADXL372_POLL_INTERVAL;
nxsem_init(&priv->run, 0, 0);
#endif
/* Read and verify the deviceid */
ret = adxl372_checkid(priv);
if (ret < 0)
{
snerr("Wrong Device ID!\n");
kmm_free(priv);
return ret;
}
/* Reset device */
adxl372_reset(priv);
/* Register the character driver */
ret = sensor_register(&priv->lower, devno);
if (ret < 0)
{
snerr("Failed to register accel driver: %d\n", ret);
kmm_free(priv);
}
#ifdef CONFIG_SENSORS_ADXL372_POLL
/* Create thread for polling sensor data */
snprintf(arg1, 16, "%p", priv);
argv[0] = arg1;
argv[1] = NULL;
ret = kthread_create("adxl372_thread", SCHED_PRIORITY_DEFAULT,
CONFIG_SENSORS_ADXL372_THREAD_STACKSIZE,
adxl372_thread,
argv);
if (ret < 0)
{
kmm_free(priv);
}
#endif
return ret;
}
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